EP3566823A1 - Verfahren, vorrichtung und system zur robotischen programmierung - Google Patents

Verfahren, vorrichtung und system zur robotischen programmierung Download PDF

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Publication number
EP3566823A1
EP3566823A1 EP18171829.7A EP18171829A EP3566823A1 EP 3566823 A1 EP3566823 A1 EP 3566823A1 EP 18171829 A EP18171829 A EP 18171829A EP 3566823 A1 EP3566823 A1 EP 3566823A1
Authority
EP
European Patent Office
Prior art keywords
robot
force
parameters
data model
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP18171829.7A
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English (en)
French (fr)
Inventor
Axel ROTTMANN
Carlos MORRA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP18171829.7A priority Critical patent/EP3566823A1/de
Priority to CN201910285681.3A priority patent/CN110465935B/zh
Priority to US16/406,172 priority patent/US11607808B2/en
Publication of EP3566823A1 publication Critical patent/EP3566823A1/de
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40122—Manipulate virtual object, for trajectory planning of real object, haptic display
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40124—During manipulator motion, sensor feedback to adapt model in memory

Definitions

  • the present invention relates to techniques of robotics programming, and more particularly to a method, apparatus and a system for robotic programming.
  • a user programs a robot by using the real robot and a real object, such as a work piece.
  • the user moves the robot to desired positions or along favored trajectories and records data.
  • the data how the user controls is also recorded by actuators in the robot. Afterwards, the robot repeats these actions according to the recorded data.
  • a robot can be easily programmed according to real installation of it and objects, and no advanced programming skill is required. While disadvantages are: The objects need to be available for programming, which may be very difficult or even impossible for large objects; no programming prior to commissioning and there is downtime of the robot during programming.
  • a user programs a robot in a simulation environment.
  • a robot, surroundings of the robot and all objects are mapped into a simulation environment.
  • the user defines positions, trajectories and interactions with work objects virtually. Afterwards a real robot executes these instructions.
  • Advantages of offline programming include: programming prior to commissioning; programs can easily be changed and adapted; no downtime of the robot during programming. While disadvantages include: the complete surrounding of the robot needs to be accurately mapped into the simulation environment; it require user to have advanced programming skills; too much preparation for simple use cases.
  • the object of the present disclosure is to provide a method, apparatus and a system for robotic programming.
  • teach-in techniques can't work for all kinds of objects and offline programming requires complicated simulation of a robot and objects, to provide a solution to give force feedback to a user manipulating a robot during teach-in programming, to let the user feel the physical feedback of a virtual object, which makes the programming procedures go smoothly and efficiently.
  • Known robotic programming techniques belong either to the teach-in techniques or offline programming.
  • standard programming, teach pendant programming and lead through programming are all teach-in techniques.
  • Virtual reality is offline programming.
  • the real object can, of course, be replaced with a duplicate.
  • it can be produced using a 3D printer. This might reduce the weight of the object and facilitates the teach-in process.
  • using duplicates entails some disadvantages, such as: printing large objects, like a chassis frame, is time consuming and expensive; depending on the size of an object, several persons are needed to handle them; the objects need to be kept in a storage for potential re-teaching of the robot; If the objects are not stored and the robot need to be re-taught, the objects need to be produced again. This increases the teach-in time and the down-time of the robot arm.
  • This present disclosure provides a solution, in circumstances that a robot is being manipulated by a user interacting with a virtual object during teach-in programming.
  • the user can't feel direct feedback of contact forces. For instance, if the robot interacts with a real object, the user can feel a direct force once the gripper of the robot hits the real object. In case of virtual objects, this user can't get this kind of direct feedback, which may result in longer teach-in times and longer downtimes of the robot.
  • a system for robotic programming includes:
  • a method for robotic programming comprises:
  • an apparatus for robotic programming comprises:
  • another apparatus for robotic programming comprises:
  • a method for controlling a robot comprises:
  • a controller of a robot comprises:
  • a controller of a robot comprises:
  • a robotic system comprising a robot and a controller of the robot described above is presented.
  • a computer-readable storage media is presented, wherein the storage media has stored thereon:
  • a computer program is presented.
  • the computer program is being executed by one or more processors of a computer system and performs the method executed by the controller of the robot or the apparatus for robotic programming.
  • a solution is provided, in circumstances that a robot is being manipulated by a user interacting with a virtual object during teach-in programming.
  • An approach that simulates a force to be fed back to a user is also proposed, so that the user can feel the physical feedback of the virtual object that exists in simulation only. To implement this approach, no additional sensors or motors are required.
  • the apparatus for robotic programming calculates parameters of the first force according to at least one kind of the following parameters of the physical object corresponding to the virtual object:
  • the apparatus for robotic programming first calculates parameters of a second force to be fed back to the robot by a physical object corresponding to the virtual object, and then calculates parameters of the second force according to the first force. So that the apparatus for robotic programming can calculate the second force via a physical engine.
  • the apparatus for robotic programming also sets up a third data model of the environment which the robot is in and the virtual object is supposed to be in, and after the second data model is gripped by the first data model, moves the second data model together with the first data model, and on detecting interaction between the second data model and the third data model, calculating parameters of a third force to be fed back to the user for feeling interaction between the physical object corresponding to the virtual object and the environment, then sends parameters of the third force to the controller of the robot, to drive the robot to feed back the third force to the user. So the user can also feel the interaction between the physical object corresponding to the virtual object with the environment.
  • the apparatus for robotic programming before the first data model touches the second data model, the apparatus for robotic programming further measures the distance between the first data model and the second data model, and if the distance is larger than a first distance threshold, turns off a switch for sending parameters of a force to the controller of the robot, and if the distance is not larger than the first distance threshold, turns on the switch, calculates according to the distance parameters of a fourth force to be fed back by the robot to the user for feeling the distance, and sends parameters of the fourth force to the controller of the robot, to drive the robot to feed back the fourth force to the user. So that the user can feel the distance between the robot and the physical object corresponding to the virtual object even without seeing the virtual object.
  • the controller of the robot receives parameters of a force, sends the parameters of the force to at least one motor for at least one joint of the robot, to drive the robot to feed back the force to a user manipulating the robot for feeling at least one of the following items:
  • FIG 1 schematically represents an exemplary embodiment of a robotic programming system 100 of the present disclosure.
  • the robotic programming system 100 comprises:
  • the environment 50 includes but is not limited to at least one of the following items:
  • the apparatus 30 can be further configured to measure the distance between the first data model and the second data model, and if the distance is larger than a first distance threshold, turn off a switch for sending parameters of a force to the controller 20 of the robot 10, whereas if the distance is not larger than the first distance threshold, turn on the switch and calculate, according to the distance, parameters of a fourth force, to be fed back by the robot 10 to the user 60 for feeling the distance, then send parameters of the fourth force to the controller 20 of the robot 10, to drive the robot 10 to feed back the fourth force to the user 60.
  • FIG 2 depicts a flowchart showing an exemplary embodiment of a method of the present disclosure. The method comprises following steps:
  • FIG 9 ⁇ shows 3 examples of interaction between the second data model and the third data model, also shows the third force 803 to be fed back to the user 60.
  • FIG 9 ⁇ shows 3 examples of interaction between the second data model and the third data model, also shows the third force 803 to be fed back to the user 60.
  • the first data model grips the second data model and put it on the third data model (a table as environment 50). There is a collision of the second data model against the third data model.
  • the first data model grips the second data model and put into the third data model (a work piece with a hold in the middle as environment 50). There is an interaction between the inner side wall and the second data model, also an interaction between the inner bottom and the second model.
  • the third force fed back to the user 60 can be a result of combination of the 2 interactions or each of the 2 interaction separately.
  • the first data model grips the second data model and hit the third data model (an obstacle as environment 50). There is a collision of the second data model against the third data model.
  • FIG 3 depicts a block diagram showing a first exemplary embodiment of the apparatus 30 for robotic programming of the present disclosure.
  • the apparatus 30 for robotic programming comprises:
  • the data model controller 303 first calculates parameters of a second force to be fed back to the robot 10 by a physical object corresponding to the virtual object 40; then calculates, according to the second force, parameters of a first force to be fed back to the user 60 for feeling touch by the robot 10 on the physical object corresponding to the virtual object 40.
  • the data model controller 303 calculates the parameters of the first force according to at least one kind of the following parameters of the physical object corresponding to the virtual object 40:
  • the data model setting up module 301 can be further configured to set up a third data model of the environment 50 which the robot 10 is in and the virtual object 40 is supposed to be in.
  • the data model controller 303 can be further configured to: after the second data model is gripped by the first data model, move the second data model together with the first data model; and on detecting interaction between the second data model and the third data model, calculate parameters of a third force to be fed back to the user 60 for feeling interaction between the physical object corresponding to the virtual object 40 and the environment 50.
  • the communication module 302 can be further configured to send parameters of the third force to the controller 20 of the robot 10, to drive the robot 10 to feed back the third force to the user 60.
  • the data model controller 303 can be further configured to: after setting up the first data model and the second data model, before the first data model touches the second data model, measure the distance between the first data model and the second data model; and if the distance is larger than a first distance threshold, turn off a switch for sending parameters of a force to the controller 20 of the robot 10.And if the distance is not larger than the first distance threshold, turn on the switch, the data model controller 303 can be further configured to calculate, according to the distance, parameters of a fourth force, to be fed back by the robot 10 to the user 60 for feeling the distance; and send parameters of the fourth force to the controller 20 of the robot 10, to drive the robot 10 to feed back the fourth force to the user 60.
  • FIG 4 depicts a block diagram showing a second exemplary embodiment of the apparatus 30 for robotic programming of the present disclosure.
  • the apparatus 30 comprises:
  • the processor 304 first calculates parameters of a second force to be fed back to the robot 10 by a physical object corresponding to the virtual object 40; and then calculates, according to the second force, parameters of a first force to be fed back to the user 60 for feeling touch by the robot 10 on the physical object corresponding to the virtual object 40.
  • the processor 304 calculates the parameters of the first force according to at least one kind of the following parameters of the physical object corresponding to the virtual object 40:
  • the processor 304 can be further configured to set up a third data model of the environment 50 which the robot 10 is in and the virtual object 40 is supposed to be in; after the second data model is gripped by the first data model, move the second data model together with the first data model; and on detecting interaction between the second data model and the third data model, calculate parameters of a third force to be fed back to the user 60 for feeling interaction between the physical object corresponding to the virtual object 40 and the environment 50.
  • the transmitter306 can be further configured to send parameters of the third force to the controller 20 of the robot 10, to drive the robot 10 to feed back the third force to the user 60.
  • the processor 304 can be further configured to: after setting up the first data model and the second data model, before the first data model touches the second data model, measure the distance between the first data model and the second data model; and if the distance is larger than a first distance threshold, turn off a switch for sending parameters of a force to the controller 20 of the robot 10. And if the distance is not larger than the first distance threshold, the processor 304 can be further configured to turn on the switch, calculate, according to the distance, parameters of a fourth force, to be fed back by the robot 10 to the user 60 for feeling the distance.
  • the transmitter306, further can be configured to send parameters of the fourth force to the controller 20 of the robot 10, to drive the robot 10 to feed back the fourth force to the user 60.
  • FIG 5 depicts a block diagram showing a first exemplary embodiment of the controller 20 of a robot 10 of the present disclosure.
  • the controller 20 comprises:
  • the mentioned object is a virtual object 40 or a physical object.
  • the first communication module 201 can be further configured to receive movement parameters from the at least one encoder101, and the second communication module 202 can be further configured to send the received movement parameters to the apparatus 30, for the apparatus 30's simulation of the movement of the robot 10.
  • FIG 6 depicts a block diagram showing a second exemplary embodiment of the controller 20 of the robot 10 of the present disclosure.
  • the controller 20 comprises:
  • the mentioned object is a virtual object 40 or a physical object.
  • the instructions can further implement receipt of movement parameters from the at least one encoder 101, transmission of the received movement parameters to the apparatus 30, for the apparatus 30's simulation of the movement of the robot 10.
  • a computer-readable storage media is also presented in the present disclosure, which has stored thereon instructions executable by one or more processors of a computer system, wherein execution of the instructions causes the computer system to perform the method according to the method for robotic programming, or the method for controlling a robot provided in the present disclosure.
  • a computer program is also provided in the present disclosure, which is being executed by one or more processors of a computer system and performs the method for robotic programming , or the method for controlling a robot provided in the present disclosure.
  • FIG 7 depicts teaching sequences provided by the present disclosure.
  • FIG 8 depicts teaching sequences in FIG 7 , showing out the virtual object 40 and the force feeding back to the user 60.
  • the force feedback technique is used in the present disclosure to give force feedback to the user 60 to let the user 60 feel the physical feedback of the virtual object 40, which makes the programming procedures go smoothly and efficiently.
  • the user 60 is teaching the robot 10(a robot arm) which is interacting with the virtual object 40 (a work piece).
  • FIG 8 the same teaching sequence in FIG 7 is shown , wherein, the virtual object 40 and the generated feedback forces (the first force 802 and the fourth force 801) are shown out. Even though the work piece is invisible, the user 60 can teach the robot to grip it (in the left). When the gripper 102 is far away from the work piece, the switch for force feedback is off (in the left).
  • the robot 10 gives tactile feedback to the user 60 proportional to the distance to the work piece (in the middle).
  • the robot 10 can forbid any further movement towards the work piece.
  • the present disclosure provides a method, apparatus for robotic programming and a robot, to provide a solution to give force feedback to a user manipulating a robot during teach-in programming, to let the user feel the physical feedback of a virtual object, which makes the programming procedures go smoothly and efficiently.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
EP18171829.7A 2018-05-11 2018-05-11 Verfahren, vorrichtung und system zur robotischen programmierung Ceased EP3566823A1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP18171829.7A EP3566823A1 (de) 2018-05-11 2018-05-11 Verfahren, vorrichtung und system zur robotischen programmierung
CN201910285681.3A CN110465935B (zh) 2018-05-11 2019-04-10 用于机器人编程的方法、设备和系统
US16/406,172 US11607808B2 (en) 2018-05-11 2019-05-08 Method, apparatus and system for robotic programming

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18171829.7A EP3566823A1 (de) 2018-05-11 2018-05-11 Verfahren, vorrichtung und system zur robotischen programmierung

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EP3566823A1 true EP3566823A1 (de) 2019-11-13

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EP (1) EP3566823A1 (de)
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US11607808B2 (en) 2023-03-21
CN110465935A (zh) 2019-11-19
US20190344441A1 (en) 2019-11-14
CN110465935B (zh) 2023-09-19

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